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Modeling and Taylormade Training Method Using Neural Network for Specific Muscle of the Upper Limb
Kazuhiko Terashima,Takanori Miyoshi,Kenta Itokazu,Yuki Ueno,Daisuke Watanabe 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
In this paper, we present modeling and taylormade training method using neural network for specific muscle of the upper limb. Validity of neural network model is demonstrated by comparing with the previous musculo - skeletal model in actual experiments. Applying the neural network model, an optimum path maximizing the activity of an agonist muscle and minimizing that of other muscles is designed by using an optimization method. The degree of muscles revitalization is evaluated by the amplitude of EMG signal, and the effectiveness of the proposed method is demonstrated.
Estimation of Flow Rate in Automatic Pouring System with Real Ladle Used in Industry
Yoshiyuki Noda,Kazuhiko Terashima 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper gives a method for estimating flow rate of an outflow liquid from tilting-ladle type automatic pouring system used in casting industry. In order to precisely pour molten metal into the mold, controlling flow rate of liquid flowing out of the ladle is absolutely necessary. However, it is difficult to directly measure the flow rate by using a conventional flow meter, because the flow meter is damaged by the molten metal. Therefore, in this study, we used a soft sensing technique as part of the flow rate estimation system. In this approach, the pouring model is generalized to meet the ladle with diversity-shape. Then, the proposed model is incorporated in an Extended Kalman Filter for estimating the flow rate. The proposed system enables to apply the automatic pouring system with real ladle which has complicated shapes. The effectiveness of the proposed flow rate estimation system is demonstrated through experiments.
Study of Power-Assisted Attitude Control with Direct Manipulation for Four DOF
Tomohiro Sawano,Hideto Kojima,Takanori Miyoshi,Kazuhiko Terashima 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, a power-assisted attitude control system, of which the purpose is to eliminate a worker’s burden and to support the operation for beginners, is presented. In previous studies, we already suggested a power-assisted system to control the horizontal and vertical axes. However, it did not deal with rotary motion. Therefore, we try to enhance the dimension of motion control in the assembling process because a system with three degrees of freedom (DOF) has limited workability. In this study, we proposed a novel power-assisted system that had a higher degree of freedom to achieve attitude control, and confirmed the effectiveness of this system experimentally.